ON THE PATH PLANNING PROBLEM IN THE VICINITY OF OBSTACLES

This paper presents a new approach to motion planning in the neighborhood of obstacles. The technique presented here, the configuration space vector path planner CSVPP , generates a collision-free path for a robot amongst unknown arbitrarily shaped obstacles. The CSVPP algorithm utilizes discrete ve...

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Bibliographic Details
Published in:Cybernetics and systems 1998-12, Vol.29 (8), p.807-868
Main Authors: Zomaya, Albert Y, Wright, Matt R, Nabham, Tarek M
Format: Article
Language:English
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Summary:This paper presents a new approach to motion planning in the neighborhood of obstacles. The technique presented here, the configuration space vector path planner CSVPP , generates a collision-free path for a robot amongst unknown arbitrarily shaped obstacles. The CSVPP algorithm utilizes discrete vectors in the configuration space of the robot to generate a path between any two points in the robot's dynamic time-varying workspace. The calculation of the robot's path assumes interpolated joint control, and provides a computational speed that enables the algorithm to be implemented in real time. A number of simulations are provided for several varying environments.
ISSN:0196-9722
1087-6553
DOI:10.1080/019697298125416